\chapter{$Epuck$ class and exceptions reference documentation} \label{app:epuckref}
\begin{remark}
The complete reference documentation can be found on CD, which is enclosed
to this thesis.
\end{remark}
\hypertarget{class_elib_1_1_epuck}{
\section{Epuck Class Reference}
\label{class_elib_1_1_epuck}\index{Elib::Epuck@{Elib::Epuck}}
}
\hyperlink{class_elib_1_1_epuck}{Epuck} class has two kind of methods.
First kind is built on $IAsyncResult$ interface and is much more comfortable.
It uses functions starting with "Begin" or function starting with "End" prefix.
Usage of "Begin/End" functions is described in Section~\ref{sec:bull}.
"Begin/End" functions are based on functions which uses $Okf$ and $Kof$ callbacks.
See Section~\ref{sec:touching} for explanation of how to use the functions with
the basic $Okf/Kof$ interface.
We recommend to use $IAsyncResult$ interface.

\subsection*{Public Member Functions}

\subsubsection*{Auxiliary methods of $IAsyncResult$ interface} % (fold)
\label{ssub:Auxillary methods}
"End" functions use {\itshape ar\/} instance to wait synchronously until the command of "Begin" function is confirmed
or the timeout from "Begin" function elapses. If the timeout elapses, $TimeoutElibException$ is raised.
In addition the $EndGetFtion$, $EndGetImage$ or $EndInfoFtion$ return array of $integers$, a $Bitmap$ or a $string$.
  \begin{DoxyCompactItemize}

  \item void \hyperlink{class_elib_1_1_epuck_a4e1dcc90a8562f5c12d0bb740e85095c}{EndFtion} (IAsyncResult ar)
  \begin{DoxyCompactList}\small\item\em Returns void. \item\end{DoxyCompactList}

  \item int\mbox{[}$\,$\mbox{]} \hyperlink{class_elib_1_1_epuck_af67fabd4c8d5fc5a9186b37157827512}{EndGetFtion} (IAsyncResult ar)
  \begin{DoxyCompactList}\small\item\em Returns an array of $integers$. \item\end{DoxyCompactList}

  \item Bitmap \hyperlink{class_elib_1_1_epuck_a8b2cf6f690beeab328e5a6c533cfa2b0}{EndGetImage} (IAsyncResult ar)
  \begin{DoxyCompactList}\small\item\em Returns a $System.Drawing.Bitmap$. \item\end{DoxyCompactList}

  \item string \hyperlink{class_elib_1_1_epuck_a74b28dea3f43cda9a42745236a2a0910}{EndInfoFtion} (IAsyncResult ar)
  \begin{DoxyCompactList}\small\item\em Returns a $string$ . \item\end{DoxyCompactList}

  \end{DoxyCompactItemize}
% subsubsection Auxiliary methods (end)

\subsubsection*{Auxiliary methods od Basic $Epuck$ interface} % (fold)
\label{ssub:Auxiliary methods od Basic $Epuck$ interface}
  \begin{DoxyCompactItemize}

  \item delegate void \hyperlink{class_elib_1_1_epuck_a410eea190419792987ceb49c2a7b2c9b}{OkfActuators} (object data)
  \begin{DoxyCompactList}\small\item\em Functions, registered to this delegates, are called if the command for an actuator is successfully confirmed in timeout.   \end{DoxyCompactList}

  \item   delegate void \hyperlink{class_elib_1_1_epuck_ae28892dce5a837c025be2d29e80ccab7}{OkfIntsSensors} (int\mbox{[}$\,$\mbox{]} ans, object data)
  \begin{DoxyCompactList}\small\item\em Functions, registered to this delegates, are called when a command requiring an array of {\ttfamily int} is confirmed in timeout. \item\end{DoxyCompactList}

  \item  delegate void \hyperlink{class_elib_1_1_epuck_a0b10e3ac7ceeaee8f73bc5194366e3d4}{OkfKofCamSensor} (Bitmap ans, object data)
  \begin{DoxyCompactList}\small\item\em Functions, registered to this delegates, are called in both cases when a command requiring a {\ttfamily Bitmap} is confirmed in timeout or the timeout elapses. \item\end{DoxyCompactList}
  
  \item   delegate void \hyperlink{class_elib_1_1_epuck_a4bfdd999c7ba6f9e1282077b2cec1cc0}{OkfStringSensors} (string ans, object data)
  \begin{DoxyCompactList}\small\item\em Functions, registered to this delegates, are called when a command requiring a {\ttfamily string} is confirmed in timeout. \item\end{DoxyCompactList}
  
  \item   delegate void \hyperlink{class_elib_1_1_epuck_a4bfdd999c7ba6f9e1282077b2cec1cc1}{KofCallback} (object data)
  \begin{DoxyCompactList}\small\item\em Functions, registered to this delegates,  are called when a command of any kind \textbf{IS NOT confirmed} in timeout. \item\end{DoxyCompactList}

  \end{DoxyCompactItemize}
% subsubsection Auxiliary methods od Basic $Epuck$ interface (end)

\subsubsection*{Motors} % (fold)
\label{ssub:Motors}
  \begin{DoxyCompactItemize}

  \item void \hyperlink{class_elib_1_1_epuck_a4598315e376ddca08db145d5eaa22efb}{Motors} (double leftMotor, double rightMotor, OkfActuators okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em Sets Left and Right Motor speed. Acceptable values are from -\/1 to 1. Value 1 corresponds to 1 revolution per second. Wheels have perimeter of 12,88 mm. \item\end{DoxyCompactList}
    
  \item void \hyperlink{class_elib_1_1_epuck_a8e552122cbe0eb95ac82d63018831697}{GetSpeed} (OkfIntsSensors okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It gets the current speed of both wheels. Speed on a wheel is from -\/1 to 1. Value 1 corresponds to 1 revolution per second. Wheels have perimeter of 12,88 mm. \item\end{DoxyCompactList}

  \item  void \hyperlink{class_elib_1_1_epuck_adad61bb9ea144ca17533e59ddf583bc8}{GetEncoders} (OkfIntsSensors okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It gets a current state of encoders. It is measured in steps. One forward revolution corresponds to +1000 steps. 
  It is nulled if the e-\/Puck resets. \item\end{DoxyCompactList}

  \item void \hyperlink{class_elib_1_1_epuck_a8b0942a1bbf1b78115b0eedf77e535a0}{SetEncoders} (int leftMotor, int rightMotor, OkfActuators okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em Sets encoders values. One revolution corresponds to 1000 steps. \item\end{DoxyCompactList}

  \item IAsyncResult \hyperlink{class_elib_1_1_epuck_aaa46f6da4226876036df7ba7cf2adca3}{BeginMotors} (double leftMotor, double rightMotor, double timeout, AsyncCallback callback, Object state)
  \begin{DoxyCompactList}\small\item\em Sets Left and Right Motor speed. Acceptable values are from -\/1 to 1. Value 1 corresponds to 1 revolution per second. Wheels have perimeter of 12,88 mm. \item\end{DoxyCompactList}

  \item   IAsyncResult \hyperlink{class_elib_1_1_epuck_a26cd19a983186a23aa49d99106bd33d1}{BeginGetSpeed} (double timeout, AsyncCallback callback, object state)
  \begin{DoxyCompactList}\small\item\em It ask for the current speed of both wheels. Speed on a wheel is from -\/1 to 1. Value 1 corresponds to 1 revolution per second. Wheels have perimeter of 12,88 mm. \item\end{DoxyCompactList}

  \item  IAsyncResult \hyperlink{class_elib_1_1_epuck_ad4cfe3776708816e78a7c53ddde315fb}{BeginGetEncoders} (double timeout, AsyncCallback callback, object state)
  \begin{DoxyCompactList}\small\item\em It ask for a current state of encoders. It is measured in steps. One forward revolution corresponds to +1000 steps.
  It is nulled if the e-\/Puck resets. \item\end{DoxyCompactList}

  \item void \hyperlink{class_elib_1_1_epuck_a8b0942a1bbf1b78115b0eedf77e535a0}{BeginSetEncoders} (int leftTicks, int rightTicks double timeout, AsyncCallback callback, object state)
  \begin{DoxyCompactList}\small\item\em Sets encoders values. One revolution corresponds to 1000 steps. \item\end{DoxyCompactList}

  \end{DoxyCompactItemize}
% subsubsection Motors (end)

\subsubsection*{IRSensors} % (fold)
\label{ssub:IRSensors}
  \begin{DoxyCompactItemize}

  \item  void \hyperlink{class_elib_1_1_epuck_a18153b3e43432af66a9baa973b77c5bd}{GetIR} (OkfIntsSensors okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It gets the proximity from IR sensors. Obstacle can be recognized up to 4 cm. \item\end{DoxyCompactList}

  \item   void \hyperlink{class_elib_1_1_epuck_a99130d9756d311379572f65411539888}{GetLight} (OkfIntsSensors okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em Returns a command to get the array of integers from IR sensors. The more ambient light, the lower the values. Usual values are above 3000. Maximal value is 5000. \item\end{DoxyCompactList}

  \item void \hyperlink{class_elib_1_1_epuck_aa15c26b061ee31dfb343f546d89bd864}{CalibrateIRSensors} (OkfActuators okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It starts calibration of the proximity IR sensors. It makes IR sensors more accurate for measuring proximity. The calibration adapts sensor for different reflection of IR light in the current environment. \item\end{DoxyCompactList}

  \item   IAsyncResult \hyperlink{class_elib_1_1_epuck_a66741b5d59b9bb5a26596b050741dee8}{BeginGetIR} (double timeout, AsyncCallback callback, object state)
  \begin{DoxyCompactList}\small\item\em It ask for the proximity from IR sensors. Obstacle can be recognized up to 4 cm. \item\end{DoxyCompactList}

  \item   IAsyncResult \hyperlink{class_elib_1_1_epuck_afa1833fd4dfb949fec35efa8ec774cf9}{BeginGetLight} (double timeout, AsyncCallback callback, object state)
  \begin{DoxyCompactList}\small\item\em Ask for the array of integers from IR sensors. The more ambient light, the lower the values. Usual values are above 3000. Maximal value is 5000. \item\end{DoxyCompactList}

  \item IAsyncResult \hyperlink{class_elib_1_1_epuck_a760541d00f318ee59be9fb1c83a0f8cd}{BeginCalibrateIRSensors} (double timeout, AsyncCallback callback, Object state)
  \begin{DoxyCompactList}\small\item\em It starts calibration of the proximity IR sensors. It makes IR sensors more accurate for measuring proximity. The calibration adapts sensor for different reflection of IR light in the current environment. \item\end{DoxyCompactList}

  \end{DoxyCompactItemize}
% subsubsection IRSensors (end)

\subsubsection*{LED diodes} % (fold)
\label{ssub:LED diodes}
  \begin{DoxyCompactItemize}

  \item void \hyperlink{class_elib_1_1_epuck_a2c17af7601d0b318f2272f87276c2e87}{LightX} (int num, \hyperlink{namespace_elib_a3bd21aa0f35c1f8d086ea6ac1e09a87c}{Turn} how, OkfActuators okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em Sets a LED with number n on,off or into inverse state. Acceptable values are 0..7(resp. 8). Value 8 represents all diodes at once. \item\end{DoxyCompactList}

  \item void \hyperlink{class_elib_1_1_epuck_a237316be8571dde0ed2e9c0b2fca6321}{BodyLight} (\hyperlink{namespace_elib_a3bd21aa0f35c1f8d086ea6ac1e09a87c}{Turn} how, OkfActuators okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em Sets Body led on, off or into an inverse state. \item\end{DoxyCompactList}

  \item void \hyperlink{class_elib_1_1_epuck_a17d5e4e8c2755b6eff667784aa2a12a1}{FrontLight} (\hyperlink{namespace_elib_a3bd21aa0f35c1f8d086ea6ac1e09a87c}{Turn} how, OkfActuators okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em Sets Front led on, off or into an inverse state. It can produce enough light for capturing close obstacles with e-\/Puck's camera. \item\end{DoxyCompactList}

  \item  IAsyncResult \hyperlink{class_elib_1_1_epuck_ac5cbe768e3e85fc8c627331e539221a1}{BeginLightX} (int num, \hyperlink{namespace_elib_a3bd21aa0f35c1f8d086ea6ac1e09a87c}{Turn} how, double timeout, AsyncCallback callback, Object state)
  \begin{DoxyCompactList}\small\item\em Sets a LED with number $num$ on,off or into inverse state. Acceptable values are 0..7(resp. 8). Value 8 represents all diodes at once. \item\end{DoxyCompactList}
  
  \item   IAsyncResult \hyperlink{class_elib_1_1_epuck_a42ebf85e7f8c6e507ef83d5bd0818650}{BeginBodyLight} (\hyperlink{namespace_elib_a3bd21aa0f35c1f8d086ea6ac1e09a87c}{Turn} how, double timeout, AsyncCallback callback, Object state)
  \begin{DoxyCompactList}\small\item\em Sets Body led on, off or into an inverse state. \item\end{DoxyCompactList}

  \item   IAsyncResult \hyperlink{class_elib_1_1_epuck_a07dff54022189967aab3a17480813803}{BeginFrontLight} (\hyperlink{namespace_elib_a3bd21aa0f35c1f8d086ea6ac1e09a87c}{Turn} how, double timeout, AsyncCallback callback, Object state)
  \begin{DoxyCompactList}\small\item\em Sets Front led on, off or into an inverse state. It can produce enough light for capturing close obstacles with e-\/Puck's camera. \item\end{DoxyCompactList}

  \end{DoxyCompactItemize}
% subsubsection LED diodes (end)

\subsubsection*{Camera} % (fold)
\label{ssub:Camera}
  \begin{DoxyCompactItemize}

  \item  void \hyperlink{class_elib_1_1_epuck_a93ba5219d4d0b3ac382a902b35e7e372}{GetImage} (OkfKofCamSensor okf, OkfKofCamSensor kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It gets a picture. It can take a long time. E.g. picture 40$\ast$40 in colour takes more than 0.4 sec under good light conditions and with battery fully charged. \item\end{DoxyCompactList}

  \item void \hyperlink{class_elib_1_1_epuck_a03911f706081e305b8602f921ad6b34b}{SetCam} (int width, int height, \hyperlink{namespace_elib_af2af0734145f6e03503f2379f6249669}{Zoom} zoom, \hyperlink{namespace_elib_acc08cc9ecc6edea0df55bcb7a1529c17}{CamMode} mode, OkfActuators okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It sets the parameters of a camera. Maximum size of a picture can be 3200 bytes. The picture size S = width$\ast$height bytes; for black and white mode S = width$\ast$height$\ast$2 bytes; for colour mode. \item\end{DoxyCompactList}

  \item  void \hyperlink{class_elib_1_1_epuck_a77057f06395cb1887ca3d504f1c51d2f}{GetCamParams} (OkfIntsSensors okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It gets current camera settings. The picture size S = width$\ast$height, black or white mode and zoom. \item\end{DoxyCompactList}
  \item   IAsyncResult \hyperlink{class_elib_1_1_epuck_afe274f8efd46c68587ec706f7dfc8a35}{BeginGetImage} (double timeout, AsyncCallback callback, object state)
  \begin{DoxyCompactList}\small\item\em It ask for a picture. It can take a long time. E.g. picture 40$\ast$40 in colour takes more than 0.4 sec under good light conditions and with battery fully charged. \item\end{DoxyCompactList}
  
  \item   IAsyncResult \hyperlink{class_elib_1_1_epuck_a55e442eec492fc282ae978b3ec1e78c2}{BeginSetCam} (int width, int height, \hyperlink{namespace_elib_af2af0734145f6e03503f2379f6249669}{Zoom} zoom, \hyperlink{namespace_elib_acc08cc9ecc6edea0df55bcb7a1529c17}{CamMode} mode, double timeout, AsyncCallback callback, Object state)
  \begin{DoxyCompactList}\small\item\em It sets the parameters of a camera. Maximum size of a picture can be 3200 bytes. The picture size S = width$\ast$height bytes; for black and white mode S = width$\ast$height$\ast$2 bytes; for colourful mode. \item\end{DoxyCompactList}

  \item   IAsyncResult \hyperlink{class_elib_1_1_epuck_aa9e87b03e5a8ec36db30b6340d0da861}{BeginGetCamParams} (double timeout, AsyncCallback callback, object state)
  \begin{DoxyCompactList}\small\item\em It ask for current camera settings. The picture size S = width$\ast$height, black or white mode and zoom. \item\end{DoxyCompactList}

  \end{DoxyCompactItemize}
% subsubsection Camera (end)

\subsubsection*{Sound} % (fold)
\label{ssub:Sound}
  \begin{DoxyCompactItemize}

  \item void \hyperlink{class_elib_1_1_epuck_a74acd305895e4f07920c45f8b29a8157}{PlaySound} (int SoundNum, OkfActuators okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It begins to play sound. Values 0-\/5 are for different sounds. 6 turns speaker off. \item\end{DoxyCompactList}

  \item void \hyperlink{class_elib_1_1_epuck_a176a4a63393394a409220699635a9196}{GetMikes} (OkfIntsSensors okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It gets the current amplitude of sound in array 3 integers from e-\/Puck's 3 speakers. \item\end{DoxyCompactList}

  \item   IAsyncResult \hyperlink{class_elib_1_1_epuck_a2426a9ea921c131b8349204f477121f5}{BeginPlaySound} (int SoundNum, double timeout, AsyncCallback callback, Object state)
  \begin{DoxyCompactList}\small\item\em It begins to play sound. Values 0-\/5 are for different sounds. 6 turns speaker off. \item\end{DoxyCompactList}

  \item  IAsyncResult \hyperlink{class_elib_1_1_epuck_af69a96d43cc6d5c47960061312d1937b}{BeginGetMikes} (double timeout, AsyncCallback callback, object state)
  \begin{DoxyCompactList}\small\item\em It ask for an array of 3 integers. The integers represent the current amplitude of sound from e-\/Puck's 3 speakers. \item\end{DoxyCompactList}

  \end{DoxyCompactItemize}
% subsubsection Sound (end)

 \subsubsection*{Accelerometer} % (fold)
 \label{ssub:Accelerometer}
  \begin{DoxyCompactItemize}

  \item  void \hyperlink{class_elib_1_1_epuck_a87e5d0c07a8d2cc6909dabbc1a79ca1d}{GetAccelerometer} (OkfIntsSensors okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It returns vector of values, which indicates the slant of e-\/Puck. \item\end{DoxyCompactList}
  
  \item  IAsyncResult \hyperlink{class_elib_1_1_epuck_a6d09043fbbed47c089ad6f7cffa05e8c}{BeginGetAccelerometer} (double timeout, AsyncCallback callback, object state)
  \begin{DoxyCompactList}\small\item\em It ask for a vector of values, which indicates the slant of e-\/Puck. \item\end{DoxyCompactList}

  \end{DoxyCompactItemize}
 % subsubsection Accelerometer (end)

\subsubsection*{Stop, reset} % (fold)
\label{ssub:Stop and reset}
  \begin{DoxyCompactItemize}

  \item void \hyperlink{class_elib_1_1_epuck_a6c5b0e61b183ae36e78251e51e32bdd3}{Stop} (OkfActuators okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It stops e-\/Puck and turn off leds. \item\end{DoxyCompactList}

  \item void \hyperlink{class_elib_1_1_epuck_a36714362701622796cf01480ea4f8d32}{Reset} (OkfActuators okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It restarts e-\/Puck. It takes around 1.5 sec. LEDs are turned off and motors are stopped. The IR sensors are calibrated. \item\end{DoxyCompactList}

  \item   IAsyncResult \hyperlink{class_elib_1_1_epuck_a4b66f73064942aa5736dca815a427d01}{BeginStop} (double timeout, AsyncCallback callback, Object state)
  \begin{DoxyCompactList}\small\item\em It stops e-\/Puck and turn off leds. \item\end{DoxyCompactList}

  \item   IAsyncResult \hyperlink{class_elib_1_1_epuck_a2b73b814db861ed276587db2fc124244}{BeginReset} (double timeout, AsyncCallback callback, Object state)
  \begin{DoxyCompactList}\small\item\em It restarts e-\/Puck. It takes around 1.5 sec. LEDs are turned off and motors are stopped.  The IR sensors are calibrated.\item\end{DoxyCompactList} 

  \end{DoxyCompactItemize}
% subsubsection Stop and reset (end)

\subsubsection*{Textual info} % (fold)
\label{ssub:Textual infon}
  \begin{DoxyCompactItemize}
  \item   void \hyperlink{class_elib_1_1_epuck_aa7ed3e58936ccd1d52596b318d5ddccc}{GetVersionInfo} (OkfStringSensors okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It gets the BTCom version. \item\end{DoxyCompactList}

  \item   void \hyperlink{class_elib_1_1_epuck_a1569f01c2a34bb335d2f7a12c94de891}{GetHelpInfo} (OkfStringSensors okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It gets for Epuck's help sent from e-\/Puck. \item\end{DoxyCompactList}

  \item   IAsyncResult \hyperlink{class_elib_1_1_epuck_a0146f79525c327c913b540186e354916}{BeginGetInfoVersion} (double timeout, AsyncCallback callback, Object state)
  \begin{DoxyCompactList}\small\item\em It asks for the BTCom version from e-\/Puck. \item\end{DoxyCompactList}

  \item   IAsyncResult \hyperlink{class_elib_1_1_epuck_a0e599fe0065ac2c3ae2ac96aede901c6}{BeginGetInfoHelp} (double timeout, AsyncCallback callback, Object state)
  \begin{DoxyCompactList}\small\item\em It asks for Epuck's help sent from e-\/Puck. \item\end{DoxyCompactList}

  \end{DoxyCompactItemize}
% subsubsection Textual info (end)

\subsubsection*{Other commands} % (fold)
\label{ssub:Extra}
  \begin{DoxyCompactItemize}

  \item  void \hyperlink{class_elib_1_1_epuck_a40c8bc92b67a20c3fdf891997eaf03c5}{GetSelector} (OkfIntsSensors okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It returns a selector position (array of integers of length 1). \item\end{DoxyCompactList}

  \item   void \hyperlink{class_elib_1_1_epuck_ad74c7a6d5618da33d84aee5666d990c5}{GetIRData} (OkfIntsSensors okf, KofCallback kof, object state, double timeout)
  \begin{DoxyCompactList}\small\item\em It gets the IR data in in array of 3 integers converted from hex number with following meaning. IR check : 0xx, address : 0xx, data : 0xx. \item\end{DoxyCompactList}

  \item   IAsyncResult \hyperlink{class_elib_1_1_epuck_a23a675feab78848b194cb49a01a30463}{BeginGetSelector} (double timeout, AsyncCallback callback, object state)
  \begin{DoxyCompactList}\small\item\em It ask for a selector position(array of integers of length 1). \item\end{DoxyCompactList}

  \item IAsyncResult \hyperlink{class_elib_1_1_epuck_a58eb06f216af8ff7a7203f0f91b010e7}{BeginGetIRData} (double timeout, AsyncCallback callback, Object state)
  \begin{DoxyCompactList}\small\item\em It gets the IR data in in array of 6 integers with following meaning IR check : 0xx, address : 0xx, data : 0xx. \item\end{DoxyCompactList}

  \end{DoxyCompactItemize}
% subsubsection Extra (end)

  


  


  \subsection*{Public Attributes}
  \begin{DoxyCompactItemize}
  \item 
  const double \hyperlink{class_elib_1_1_epuck_afef1fb969494d5992aaac3146c9b3f5f}{WheelDiameter} = 4.1
  \begin{DoxyCompactList}\small\item\em units: \mbox{[}cm\mbox{]} \item\end{DoxyCompactList}\item 
  const double \hyperlink{class_elib_1_1_epuck_a07d37f0deafd97a37fcea3c667ae3984}{Perch} = 5.3
  \begin{DoxyCompactList}\small\item\em Distance between wheels of an e-\/Puck in cm. \item\end{DoxyCompactList}\item 
  const double \hyperlink{class_elib_1_1_epuck_a1c5722494d807e6a5df5835c722d4d6e}{MaxSpeed} = 12.88
  \begin{DoxyCompactList}\small\item\em 12.88 cm/s is a maximum speed of e-\/Puck. In \hyperlink{namespace_elib}{Elib} 13cm/sec corresponds to 1.00. From -\/1.00 to 1.00 is the speed linearly growing. \item\end{DoxyCompactList}
  \item static readonly int\mbox{[}$\,$\mbox{]} \hyperlink{class_elib_1_1_epuck_ab1705fc7b8cacf430c8060ee9c0b5d93}{IRSensorsDegrees} = new int\mbox{[}8\mbox{]} \{ 10, 30, 90, 170, 190, 270, 330, 350 \}
  \begin{DoxyCompactList}\small\item\em Eight Infra Red sensors are placed on the perimeter of e-\/Puck, which can be obtained on the instance e of e-\/Puck by \hyperlink{}{e.BeginGetIRSensors(..)} method or by {\ttfamily e.GetIRSensors(..)} method. IrSensorsDegrees describes the degrees measured from front(There is a cam.) As you can see most of the sensors are on the front side of e-\/Puck. \item\end{DoxyCompactList}\end{DoxyCompactItemize}

  \subsection*{Properties}
  \begin{DoxyCompactItemize}
  \item 
  static string \hyperlink{class_elib_1_1_epuck_a0c2ac9894699214d11d34393f4c37681}{BTComHelp}\hspace{0.3cm}{\ttfamily  \mbox{[}get\mbox{]}}
  \begin{DoxyCompactList}\small\item\em It gets the BTCom help. \item\end{DoxyCompactList}\item 
  int \hyperlink{class_elib_1_1_epuck_af2dd18800c02f63e0c567abede754c1c}{Working}\hspace{0.3cm}{\ttfamily  \mbox{[}get\mbox{]}}
  \begin{DoxyCompactList}\small\item\em Gets the number of unconfirmed commands in the \hyperlink{class_elib_1_1_epuck}{Epuck} instance. \item\end{DoxyCompactList}
  \item 
int \hyperlink{class_elib_1_1_epuck_a5e19ebf6190d7c3850cb5551a91e261f}{NotSent}\hspace{0.3cm}{\ttfamily  \mbox{[}get\mbox{]}}
\begin{DoxyCompactList}\small\item\em Gets the number of waiting commands in the notSent queue = commands waiting to be sent via Serial Port(Bluetooth). \item\end{DoxyCompactList}\item 
string \hyperlink{class_elib_1_1_epuck_a33c661ddaae53d658ea4f36de2e0f835}{Name}\hspace{0.3cm}{\ttfamily  \mbox{[}get\mbox{]}}
\begin{DoxyCompactList}\small\item\em Gets the name specified in a constructor. \item\end{DoxyCompactList}\item 
string \hyperlink{class_elib_1_1_epuck_ac267eba98589b346ef38a5ce942eff95}{Port}\hspace{0.3cm}{\ttfamily  \mbox{[}get\mbox{]}}
\begin{DoxyCompactList}\small\item\em Gets the port specified in the constructor. \item\end{DoxyCompactList}\item 
bool \hyperlink{class_elib_1_1_epuck_a91d6eb45360b7338b65faa185f657f61}{Log}\hspace{0.3cm}{\ttfamily  \mbox{[}get\mbox{]}}
\begin{DoxyCompactList}\small\item\em Return a {\ttfamily bool} flag, which indicates whether logging is on. \item\end{DoxyCompactList}\item 
TextWriter \hyperlink{class_elib_1_1_epuck_ac62091639e5474b54082b4c92d6f9fd5}{LogStream}\hspace{0.3cm}{\ttfamily  \mbox{[}get, set\mbox{]}}
\begin{DoxyCompactList}\small\item\em Enables sets or get TextWriter of e-\/Puck, where all actions of e-\/Puck are logged if logging is turned on. \item\end{DoxyCompactList}\end{DoxyCompactItemize}
